Cyborg and bionic systems (Washington, D.C.)最新文献_第10页

Classifying Motion Intention of Step Length and Synchronous Walking Speed by Functional Near-Infrared Spectroscopy 用功能近红外光谱法对步长和同步步行速度的运动意图进行分类

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2021-04-22 DOI: 10.34133/2021/9821787

Yufei Zhu, Chunguang Li, Hedian Jin, Lining Sun

{"title":"Classifying Motion Intention of Step Length and Synchronous Walking Speed by Functional Near-Infrared Spectroscopy","authors":"Yufei Zhu, Chunguang Li, Hedian Jin, Lining Sun","doi":"10.34133/2021/9821787","DOIUrl":"https://doi.org/10.34133/2021/9821787","url":null,"abstract":"In some patients who have suffered an amputation or spinal cord injury, walking ability may be degraded or deteriorated. Helping these patients walk independently on their own initiative is of great significance. This paper proposes a method to identify subjects' motion intention under different levels of step length and synchronous walking speed by using functional near-infrared spectroscopy technology. Thirty-one healthy subjects were recruited to walk under six given sets of gait parameters (small step with low/midspeed, midstep with low/mid/high speed, and large step with midspeed). The channels were subdivided into more regions. More frequency bands (6 subbands on average in the range of 0-0.18 Hz) were decomposed by applying the wavelet packet method. Further, a genetic algorithm and a library for support vector machine algorithm were applied for selecting typical feature vectors, which were represented by important regions with partial important channels mentioned above. The walking speed recognition rate was 71.21% in different step length states, and the step length recognition rate was 71.21% in different walking speed states. This study explores the method of identifying motion intention in two-dimensional multivariate states. It lays the foundation for controlling walking-assistance equipment adaptively based on cerebral hemoglobin information.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43637719","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Shape Estimation of Soft Manipulator Using Stretchable Sensor 基于可伸缩传感器的软机械手形状估计

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2021-04-21 DOI: 10.34133/2021/9843894

JinHo So, Uikyum Kim, Y. Kim, D. Seok, S. Yang, Kihyeon Kim, Jae Hyeong Park, Seong Tak Hwang, Young Jin Gong, H. Choi

{"title":"Shape Estimation of Soft Manipulator Using Stretchable Sensor","authors":"JinHo So, Uikyum Kim, Y. Kim, D. Seok, S. Yang, Kihyeon Kim, Jae Hyeong Park, Seong Tak Hwang, Young Jin Gong, H. Choi","doi":"10.34133/2021/9843894","DOIUrl":"https://doi.org/10.34133/2021/9843894","url":null,"abstract":"The soft robot manipulator is attracting attention in the surgical fields with its intrinsic softness, lightness in its weight, and safety toward the human organ. However, it cannot be used widely because of its difficulty of control. To control a soft robot manipulator accurately, shape sensing is essential. This paper presents a method of estimating the shape of a soft robot manipulator by using a skin-type stretchable sensor composed of a multiwalled carbon nanotube (MWCNT) and silicone (p7670). The sensor can be easily fabricated and applied by simply attaching it to the surface of the soft manipulator. In its fabrication, MWCNT is sprayed on a teflon sheet, and liquid-state silicone is poured on it. After curing, we turn it over and cover it with another silicone layer. The sensor is fabricated with a sandwich structure to decrease the hysteresis of the sensor. After calibration and determining the relationship between the resistance of the sensor and the strain, three sensors are attached at 120° intervals. Using the obtained data, the curvature of the manipulator is calculated, and the entire shape is reconstructed. To validate its accuracy, the estimated shape is compared with the camera data. We experiment with three, six, and nine sensors attached, and the result of the error of shape estimation is compared. As a result, the minimum tip position error is approximately 8.9 mm, which corresponded to 4.45% of the total length of the manipulator when using nine sensors.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44758035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 19

Pulsed Microfluid Force-Based On-Chip Modular Fabrication for Liver Lobule-Like 3D Cellular Models 基于脉冲微流体力的芯片模块化制备肝小叶样三维细胞模型

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2021-04-08 DOI: 10.34133/2021/9871396

Juan Cui, Huaping Wang, Qing Shi, Tao Sun

{"title":"Pulsed Microfluid Force-Based On-Chip Modular Fabrication for Liver Lobule-Like 3D Cellular Models","authors":"Juan Cui, Huaping Wang, Qing Shi, Tao Sun","doi":"10.34133/2021/9871396","DOIUrl":"https://doi.org/10.34133/2021/9871396","url":null,"abstract":"In vitro three-dimensional (3D) cellular models with native tissue-like architectures and functions have potential as alternatives to human tissues in regenerative medicine and drug discovery. However, it is difficult to replicate liver constructs that mimic in vivo microenvironments using current approaches in tissue engineering because of the vessel-embedded 3D structure and complex cell distribution of the liver. This paper reports a pulsed microflow-based on-chip 3D assembly method to construct 3D liver lobule-like models that replicate the spatial structure and functions of the liver lobule. The heterogeneous cell-laden assembly units with hierarchical cell distribution are fabricated through multistep photopatterning of different cell-laden hydrogels. Through fluid force interaction by pulsed microflow, the hierarchical assembly units are driven to a stack, layer by layer, and thus spatially assemble into 3D cellular models in the closed liquid chamber of the assembly chip. The 3D models with liver lobule-like hexagonal morphology and radial cell distribution allow the dynamic perfusion culture to maintain high cell viability and functional expression during long-term culture in vitro. These results demonstrate that the fabricated 3D liver lobule-like models are promising for drug testing and the study of individual diagnoses and treatments.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43156873","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

An Electrical Stimulation Culture System for Daily Maintenance-Free Muscle Tissue Production 用于日常无维护肌肉组织生产的电刺激培养系统

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2021-04-08 DOI: 10.34133/2021/9820505

Y. Akiyama, Akemi Nakayama, S. Nakano, Ryuichiro Amiya, Jun Hirose

{"title":"An Electrical Stimulation Culture System for Daily Maintenance-Free Muscle Tissue Production","authors":"Y. Akiyama, Akemi Nakayama, S. Nakano, Ryuichiro Amiya, Jun Hirose","doi":"10.34133/2021/9820505","DOIUrl":"https://doi.org/10.34133/2021/9820505","url":null,"abstract":"Low-labor production of tissue-engineered muscles (TEMs) is one of the key technologies to realize the practical use of muscle-actuated devices. This study developed and then demonstrated the daily maintenance-free culture system equipped with both electrical stimulation and medium replacement functions. To avoid ethical issues, immortal myoblast cells C2C12 were used. The system consisting of gel culture molds, a medium replacement unit, and an electrical stimulation unit could produce 12 TEMs at one time. The contractile forces of the TEMs were measured with a newly developed microforce measurement system. Even the TEMs cultured without electrical stimulation generated forces of almost 2 mN and were shortened by 10% in tetanic contractions. Regarding the contractile forces, electrical stimulation by a single pulse at 1 Hz was most effective, and the contractile forces in tetanus were over 2.5 mN. On the other hand, continuous pulses decreased the contractile forces of TEMs. HE-stained cross-sections showed that myoblast cells proliferated and fused into myotubes mainly in the peripheral regions, and fewer cells existed in the internal region. This must be due to insufficient supplies of oxygen and nutrients inside the TEMs. By increasing the supplies, one TEM might be able to generate a force up to around 10 mN. The tetanic forces of the TEMs produced by the system were strong enough to actuate microstructures like previously reported crawling robots. This daily maintenance-free culture system which could stably produce TEMs strong enough to be utilized for microrobots should contribute to the advancement of biohybrid devices.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48726631","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 11

Bioprinted Vascularized Mature Adipose Tissue with Collagen Microfibers for Soft Tissue Regeneration 胶原微纤维生物打印血管化成熟脂肪组织用于软组织再生

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2021-03-13 DOI: 10.34133/2021/1412542

F. Louis, Marie Piantino, Hao Liu, D. Kang, Y. Sowa, S. Kitano, M. Matsusaki

{"title":"Bioprinted Vascularized Mature Adipose Tissue with Collagen Microfibers for Soft Tissue Regeneration","authors":"F. Louis, Marie Piantino, Hao Liu, D. Kang, Y. Sowa, S. Kitano, M. Matsusaki","doi":"10.34133/2021/1412542","DOIUrl":"https://doi.org/10.34133/2021/1412542","url":null,"abstract":"The development of soft tissue regeneration has recently gained importance due to safety concerns about artificial breast implants. Current autologous fat graft implantations can result in up to 90% of volume loss in long-term outcomes due to their limited revascularization. Adipose tissue has a highly vascularized structure which enables its proper homeostasis as well as its endocrine function. Mature adipocytes surrounded by a dense vascular network are the specific features required for efficient regeneration of the adipose tissue to perform host anastomosis after its implantation. Recently, bioprinting has been introduced as a promising solution to recreate in vitro this architecture in large-scale tissues. However, the in vitro induction of both the angiogenesis and adipogenesis differentiations from stem cells yields limited maturation states for these two pathways. To overcome these issues, we report a novel method for obtaining a fully vascularized adipose tissue reconstruction using supporting bath bioprinting. For the first time, directly isolated mature adipocytes encapsulated in a bioink containing physiological collagen microfibers (CMF) were bioprinted in a gellan gum supporting bath. These multilayered bioprinted tissues retained high viability even after 7 days of culture. Moreover, the functionality was also confirmed by the maintenance of fatty acid uptake from mature adipocytes. Therefore, this method of constructing fully functional adipose tissue regeneration holds promise for future clinical applications.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45393840","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 20

Cell-Based Biohybrid Sensor Device for Chemical Source Direction Estimation 用于化学源方向估计的基于细胞的生物混合传感器装置

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2021-01-23 DOI: 10.34133/2021/8907148

H. Oda, K. Kihara, Y. Morimoto, S. Takeuchi

{"title":"Cell-Based Biohybrid Sensor Device for Chemical Source Direction Estimation","authors":"H. Oda, K. Kihara, Y. Morimoto, S. Takeuchi","doi":"10.34133/2021/8907148","DOIUrl":"https://doi.org/10.34133/2021/8907148","url":null,"abstract":"This paper describes a method to estimate the direction from which the signal molecule reaches the sensor by using living cells. In this context, biohybrid sensors that utilize a sophisticated sensing system of cells can potentially offer high levels of chemical-detection sensitivity and selectivity. However, biohybrid-sensor-based chemical-source-direction estimation has not received research attention because the cellular response to chemicals has not been examined in the context of directional information. In our approach, we fabricated a device that can limit the interface between the cell-laden hydrogel and the chemical solution of interest to enhance the time difference over which the chemical solution reaches the cells. Chemical detection by cells that express specific receptors is reflected as the fluorescence of the calcium indicator within the cells. Our device has eight chambers that each house 3D cell-laden collagen hydrogels facing circularly outward. The device also works as a cover to prevent chemicals from permeating the hydrogel from above. In our study, by observing the time course of the fluorescence emission of each chamber, we were able to successfully estimate the chemical-source direction within an error range of 7–13°. Our results suggest that a combination of microstructure devices embedded with living cells can be used to exploit cell functionalities to yield chemical-source directional information.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46787125","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 11

Design of Electrohydrodynamic Devices with Consideration of Electrostatic Energy 考虑静电能的电流体动力装置设计

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2021-01-09 DOI: 10.34133/2021/5158282

Tasuku Sato, S. Sakuma, M. Hijikuro, S. Maeda, M. Anyoji, Y. Yamanishi

{"title":"Design of Electrohydrodynamic Devices with Consideration of Electrostatic Energy","authors":"Tasuku Sato, S. Sakuma, M. Hijikuro, S. Maeda, M. Anyoji, Y. Yamanishi","doi":"10.34133/2021/5158282","DOIUrl":"https://doi.org/10.34133/2021/5158282","url":null,"abstract":"The importance of actuators that can be integrated with flexible robot structures and mechanisms has increased in recent years with the advance of soft robotics. In particular, electrohydrodynamic (EHD) actuators, which have expandable integrability to adapt to the flexible motion of soft robots, have received much attention in the field of soft robotics. Studies have deepened the understanding of steady states of EHD phenomena but nonsteady states are not well understood. We herein observe the development process of fluid in a microchannel adopting a Schlieren technique with the aid of a high-speed camera. In addition, we analyze the behavior of fluid flow in a microchannel that is designed to have pairs of parallel plate electrodes adopting a computational fluid dynamics technique. Results indicate the importance of considering flow generated by electrostatic energy, which tends to be ignored in constructing and evaluating EHD devices, and by the body force generated by the ion-drag force. By considering these effects, we estimate the development process of EHD flow and confirm the importance of considering the generation of vortices and their interactions inside the microchannel during the development of EHD devices.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47853631","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

3D Bioprinted Spheroidal Droplets for Engineering the Heterocellular Coupling between Cardiomyocytes and Cardiac Fibroblasts. 三维生物打印球形液滴用于设计心肌细胞与心脏成纤维细胞之间的异细胞耦合。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2021-01-01 Epub Date: 2021-12-28 DOI: 10.34133/2021/9864212

Raven El Khoury, Naveen Nagiah, Joel A Mudloff, Vikram Thakur, Munmun Chattopadhyay, Binata Joddar

{"title":"3D Bioprinted Spheroidal Droplets for Engineering the Heterocellular Coupling between Cardiomyocytes and Cardiac Fibroblasts.","authors":"Raven El Khoury, Naveen Nagiah, Joel A Mudloff, Vikram Thakur, Munmun Chattopadhyay, Binata Joddar","doi":"10.34133/2021/9864212","DOIUrl":"10.34133/2021/9864212","url":null,"abstract":"Since conventional human cardiac two-dimensional (2D) cell culture and multilayered three-dimensional (3D) models fail in recapitulating cellular complexity and possess inferior translational capacity, we designed and developed a high-throughput scalable 3D bioprinted cardiac spheroidal droplet-organoid model with cardiomyocytes and cardiac fibroblasts that can be used for drug screening or regenerative engineering applications. This study helped establish the parameters for bioprinting and cross-linking a gelatin-alginate-based bioink into 3D spheroidal droplets. A flattened disk-like structure developed in prior studies from our laboratory was used as a control. The microstructural and mechanical stability of the 3D spheroidal droplets was assessed and was found to be ideal for a cardiac scaffold. Adult human cardiac fibroblasts and AC16 cardiomyocytes were mixed in the bioink and bioprinted. Live-dead assay and flow cytometry analysis revealed robust biocompatibility of the 3D spheroidal droplets that supported the growth and proliferation of the cardiac cells in the long-term cultures. Moreover, the heterocellular gap junctional coupling between the cardiomyocytes and cardiac fibroblasts further validated the 3D cardiac spheroidal droplet model.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"2021 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9254634/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9179703","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Surgical Robot for Intraluminal Access: An Ex Vivo Feasibility Study. 腔内手术机器人:离体可行性研究。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2020-01-01 DOI: 10.34133/2020/8378025

Ryu Nakadate, Tsutomu Iwasa, Shinya Onogi, Jumpei Arata, Susumu Oguri, Yasuharu Okamoto, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

{"title":"Surgical Robot for Intraluminal Access: An Ex Vivo Feasibility Study.","authors":"Ryu Nakadate, Tsutomu Iwasa, Shinya Onogi, Jumpei Arata, Susumu Oguri, Yasuharu Okamoto, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume","doi":"10.34133/2020/8378025","DOIUrl":"https://doi.org/10.34133/2020/8378025","url":null,"abstract":"Early-stage gastrointestinal cancer is often treated by endoscopic submucosal dissection (ESD) using a flexible endoscope. Compared with conventional percutaneous surgery, ESD is much less invasive and provides a high quality of life for the patient because it does not require a skin incision, and the organ is preserved. However, the operator must be highly skilled because ESD requires using a flexible endoscope with energy devices, which have limited degrees of freedom. To facilitate easier manipulation of these flexible devices, we developed a surgical robot comprising a flexible endoscope and two articulating instruments. The robotic system is based on a conventional flexible endoscope, and an extrapolated motor unit moves the endoscope in all its degrees of freedom. The instruments are thin enough to allow insertion of two instruments into the endoscope channel, and each instrument has a bending section that allows for up-down, right-left, and forward-backward motion. In this study, we performed an ex vivo feasibility evaluation using the proposed robotic system for ESD in a porcine stomach. The procedure was successfully performed by five novice operators without complications. Our findings demonstrated the feasibility of the proposed robotic system and, furthermore, suggest that even operators with limited experience can use this system to perform ESD.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"2020 ","pages":"8378025"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10097415/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9316858","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 19

Cyborg and Bionic Systems: Signposting the Future. 半机械人与仿生系统:未来的路标。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2020-01-01 DOI: 10.34133/2020/1310389

Toshio Fukuda

引用次数: 20